EP-based PPO with CPG and residual policies matches standard PPO performance on 12-DoF quadruped uneven-terrain locomotion while using 4.3 times less GPU memory during training.
Decoding the organization of spinal circuits that control locomotion
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Neuromorphic Reinforcement Learning for Quadruped Locomotion Control on Uneven Terrain
EP-based PPO with CPG and residual policies matches standard PPO performance on 12-DoF quadruped uneven-terrain locomotion while using 4.3 times less GPU memory during training.